The orientation workspace of a 3-PRS parallel manipulator

Author

Wenjia Chen ; Zhao, Lanlei ; Mo, Xian

Author_Institution

Coll. of Mech. Eng., Yangzhou Univ., Yangzhou, China

fYear

2011

fDate

16-18 April 2011

Firstpage

875

Lastpage

878

Abstract

This paper deals with the orientation workspace of a 3-PRS parallel manipulator. The manipulator is constituted by a fixed three frustum base, three incline guide rails, three P-R-S kinematic chains and a mobile platform. Based on the kinematic analysis, the orientation workspace of the 3-PRS parallel manipulator are analyzed. The three dimensional view of orientation workspace is drawn based on inverse solution of its positional problem and comprehensively considering the structural restraint. The impact of its geometric parameter on the orientation workspace is analyzed quantitatively. The work of this paper provides the basis for the design and the practical application of the parallel manipulator.

Keywords

manipulator kinematics; position control; 3-PRS parallel manipulator; P-R-S kinematic chains; fixed three frustum base; geometric parameter; incline guide rails; kinematic analysis; mobile platform; orientation workspace; positional problem; structural restraint; Bars; Fasteners; Interference; Manipulators; Mobile communication; Rails; 3-PRS; orientation workspace; parallel manipulato;

fLanguage

English

Publisher

ieee

Conference_Titel

Consumer Electronics, Communications and Networks (CECNet), 2011 International Conference on

Conference_Location

XianNing

Print_ISBN

978-1-61284-458-9

Type

conf

DOI

10.1109/CECNET.2011.5768919

Filename

5768919